mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-04 00:37:46 +08:00
411 lines
10 KiB
YAML
411 lines
10 KiB
YAML
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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Grid1
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- /PointCloud21
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- /TF1/Frames1
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- /Marker1/Namespaces1
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- /Odometry1
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- /PointCloud22
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- /PointCloud23
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- /Odometry2
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- /LaserScan1
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- /Map1
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- /Map1/Status1
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Splitter Ratio: 0.5
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Tree Height: 581
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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Name: Tool Properties
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Splitter Ratio: 0.588679
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: LaserScan
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.03
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: odom
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 2.02684
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Min Value: -1.12646
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Value: true
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Axis: Z
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Channel Name: rgb
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: RGB8
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 2.34177e-38
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Min Color: 0; 0; 0
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Min Intensity: 9.21942e-41
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.01
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Style: Points
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Topic: /voxel_cloud
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Class: rviz/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: false
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L_forearm_link:
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Value: true
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L_frame_tool_link:
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Value: true
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L_gripper_up_link:
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Value: true
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L_shoulder_fixed_link:
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Value: true
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L_shoulder_pan_link:
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Value: true
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L_shoulder_tilt_link:
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Value: true
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L_upper_arm_link:
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Value: true
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R_forearm_link:
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Value: true
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R_frame_tool_link:
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Value: true
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R_gripper_up_link:
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Value: true
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R_shoulder_fixed_link:
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Value: true
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R_shoulder_pan_link:
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Value: true
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R_shoulder_tilt_link:
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Value: true
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R_upper_arm_link:
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Value: true
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base_footprint:
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Value: true
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base_laser_link:
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Value: true
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base_link:
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Value: true
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head_l_eye_eyebrow_link:
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Value: true
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head_l_eye_link:
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Value: true
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head_l_eye_pupil_link:
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Value: true
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head_link:
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Value: true
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head_r_eye_eyebrow_link:
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Value: true
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head_r_eye_link:
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Value: true
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head_r_eye_pupil_link:
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Value: true
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map:
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Value: true
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neck_bracket_link:
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Value: true
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neck_pan_link:
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Value: true
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neck_tilt_link:
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Value: true
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neck_top_frame:
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Value: true
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odom:
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Value: true
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openni_base_link:
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Value: true
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openni_camera_link:
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Value: true
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openni_depth_frame:
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Value: true
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openni_depth_optical_frame:
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Value: true
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openni_rgb_frame:
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Value: true
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openni_rgb_optical_frame:
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Value: true
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torso_imu_link:
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Value: true
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torso_link:
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Value: true
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torso_stand_link:
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Value: true
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torso_top_frame:
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Value: true
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wheelLB_linkWheel_link:
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Value: true
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wheelLB_wheel_link:
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Value: true
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wheelLF_linkWheel_link:
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Value: true
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wheelLF_wheel_link:
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Value: true
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wheelRB_linkWheel_link:
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Value: true
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wheelRB_wheel_link:
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Value: true
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wheelRF_linkWheel_link:
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Value: true
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wheelRF_wheel_link:
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Value: true
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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map:
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odom:
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{}
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Update Interval: 0
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Value: true
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- Class: rviz/Marker
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Enabled: true
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Marker Topic: visualization_marker
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Name: Marker
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Namespaces:
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{}
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Queue Size: 100
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Value: true
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- Class: rviz/Marker
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Enabled: true
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Marker Topic: /visualization_marker_wheels
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Name: Marker
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Namespaces:
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{}
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Queue Size: 100
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Value: true
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- Angle Tolerance: 0
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Class: rviz/Odometry
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Color: 255; 25; 0
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Enabled: true
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Keep: 1
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Length: 1
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Name: Odometry
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Position Tolerance: 0
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Topic: /odom
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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||
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Max Value: 2.3372
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Min Value: -0.700095
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: RGB8
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Decay Time: 0
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||
|
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Enabled: true
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|
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.01
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Style: Points
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Topic: /assembled_clouds
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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||
|
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- Alpha: 1
|
||
|
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Autocompute Intensity Bounds: true
|
||
|
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Autocompute Value Bounds:
|
||
|
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Max Value: 4.00237
|
||
|
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Min Value: 0.462084
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||
|
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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||
|
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Color Transformer: Intensity
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||
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Decay Time: 0
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||
|
|
Enabled: true
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||
|
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Invert Rainbow: false
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||
|
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Max Color: 255; 255; 255
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||
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Max Intensity: 4096
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||
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Min Color: 0; 0; 0
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||
|
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Min Intensity: 0
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||
|
|
Name: PointCloud2
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Position Transformer: XYZ
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||
|
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Queue Size: 10
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Selectable: true
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||
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Size (Pixels): 3
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||
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Size (m): 0.01
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Style: Points
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Topic: /assembled_scans
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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|
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Autocompute Intensity Bounds: true
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|
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Autocompute Value Bounds:
|
||
|
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Max Value: 2.1283
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||
|
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Min Value: -0.00552607
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Value: true
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||
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: AxisColor
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Decay Time: 0
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||
|
|
Enabled: false
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||
|
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Invert Rainbow: false
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||
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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|
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.01
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Style: Flat Squares
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Topic: /cloud2
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Use Fixed Frame: true
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Use rainbow: true
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Value: false
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- Angle Tolerance: 0.01
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Class: rviz/Odometry
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Color: 255; 25; 0
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Enabled: true
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Keep: 1
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Length: 1
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Name: Odometry
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Position Tolerance: 0.01
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Topic: /odom_slam
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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||
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Autocompute Value Bounds:
|
||
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|
Max Value: 1.97636
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||
|
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Min Value: -11.138
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Value: true
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Axis: X
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Channel Name: intensity
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Class: rviz/LaserScan
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Color: 255; 255; 255
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Color Transformer: AxisColor
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Decay Time: 0
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||
|
|
Enabled: true
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||
|
|
Invert Rainbow: false
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||
|
|
Max Color: 255; 255; 255
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|
Max Intensity: 4096
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|
Min Color: 0; 0; 0
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||
|
|
Min Intensity: 0
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||
|
|
Name: LaserScan
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|
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Position Transformer: XYZ
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|
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Queue Size: 10
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Selectable: true
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||
|
|
Size (Pixels): 3
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||
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|
Size (m): 0.01
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||
|
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Style: Flat Squares
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||
|
|
Topic: /jn0/base_scan
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|
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Use Fixed Frame: false
|
||
|
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Use rainbow: true
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||
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Value: true
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||
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- Alpha: 0.7
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||
|
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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||
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Name: Map
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Topic: /grid_map
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Value: true
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||
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Enabled: true
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||
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Global Options:
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Background Color: 48; 48; 48
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||
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Fixed Frame: odom
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||
|
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Frame Rate: 30
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||
|
|
Name: root
|
||
|
|
Tools:
|
||
|
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- Class: rviz/Interact
|
||
|
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Hide Inactive Objects: true
|
||
|
|
- Class: rviz/MoveCamera
|
||
|
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- Class: rviz/Select
|
||
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- Class: rviz/Measure
|
||
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|
- Class: rviz/SetInitialPose
|
||
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Topic: /initialpose
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||
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- Class: rviz/SetGoal
|
||
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Topic: /move_base_simple/goal
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||
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Value: true
|
||
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Views:
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||
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Current:
|
||
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Class: rviz/Orbit
|
||
|
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Distance: 16.0582
|
||
|
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Focal Point:
|
||
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X: -0.102899
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||
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Y: 0.0127649
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||
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Z: 0.650117
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||
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Name: Current View
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||
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Near Clip Distance: 0.01
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||
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Pitch: 0.6598
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||
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Target Frame: base_link
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||
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Value: Orbit (rviz)
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||
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|
Yaw: 3.58419
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||
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Saved: ~
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||
|
|
Window Geometry:
|
||
|
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Displays:
|
||
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collapsed: false
|
||
|
|
Height: 754
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||
|
|
Hide Left Dock: false
|
||
|
|
Hide Right Dock: false
|
||
|
|
QMainWindow State: 000000ff00000000fd000000040000000000000136000002d4fc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000000000002d4000000dd00fffffffb0000000a0049006d00610067006501000002b1000000c70000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000035a000002d400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
|
||
|
|
Selection:
|
||
|
|
collapsed: false
|
||
|
|
Time:
|
||
|
|
collapsed: false
|
||
|
|
Tool Properties:
|
||
|
|
collapsed: false
|
||
|
|
Views:
|
||
|
|
collapsed: false
|
||
|
|
Width: 1174
|
||
|
|
X: 42
|
||
|
|
Y: 88
|